CN107449403A - A kind of space-time four-dimension joint imaging model and application - Google Patents
A kind of space-time four-dimension joint imaging model and application Download PDFInfo
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- CN107449403A CN107449403A CN201710674305.4A CN201710674305A CN107449403A CN 107449403 A CN107449403 A CN 107449403A CN 201710674305 A CN201710674305 A CN 201710674305A CN 107449403 A CN107449403 A CN 107449403A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The present invention relates to a kind of space-time four-dimension joint imaging model, the model is will to add time dimension under system in three-dimensional space, establish the dimension imaging model of space-time four, thing, the picture point corresponding relation established under four-dimensional system, on the basis of perspective imaging model, space object-image relation is deployed along time shaft, is expanded into space-time four-dimensional imaging system, establishes space-time four-dimension joint imaging model.The present invention proposes to establish " space-time " four-dimensional imaging model, it is that time parameter, kinematic parameter are added on the basis of space three-dimensional imaging system models, form a complete, rational space-time four-dimensional imaging system, the system can be used as in following vision detection technology, one basis of the videographic measurment research based on sequence image, because being based on this system, the problems such as can solving to include space, time, the demarcation of any one parameter of target operation state, measurement, precision analysis.
Description
Technical field
The invention belongs to the vision-based detection in machine vision category and vision measurement field, especially a kind of Space Time is four-dimensional
Joint imaging model and application.
Background technology
Measurement is one of basic technology of modern industry, and the precision and efficiency of measurement decide manufacturing industry to a certain extent
Or even the development level of science and technology.With the fast development of visual sensing technology and image processing techniques, oneself of vision measurement day
Attain ripe and gradually derivative as a kind of non-contact measurement method the most popular.It is and continuous with stereographic hardware equipment and technology
Improve, with perfect, the precision and speed of vision measurement are got over for the exploitation of all kinds of image processing algorithms and intelligent algorithm
The approval come in more practical applications, cause domestic and foreign scholars and widely pay attention to and study.
Vision measurement is to carry out analysis calculating by the image shot to optical imaging system, measures testee three
The parameters such as geometry, pose in dimension space.Image captured by optical imaging system, be space object by imaging system in picture
The projection of reflection in plane, i.e. three-dimensional object in image plane.The gray scale of each pixel of digital picture reflects space
The luminous intensity of body surface corresponding points, and the picture position of the point corresponds to the geometric position on space object surface.Actual object
The mutual corresponding relation of position and its position on image, is determined by the geometric projection model or imaging model of imaging system
It is fixed.
The basic imaging model of vision measurement is perspective projection model, or makees pin-hole model.Meeting pin hole mould
On the premise of type is assumed, picture point, photocentre and object point meet collinearity equation, i.e. three point on a straight line.For one camera (monocular vision system
System) situation, if photocentre and picture point, it is known that be assured that unique ray of picture point and photocentre composition, and object point is inevitable exists
On this ray.Now, it is confirmed that crossing the ray of photocentre relative to the both direction or angle value of optical axis, but object point is penetrated herein
Particular location on line can not determine.When using two or more cameras (binocular or multi-vision visual system) from different positions pair
During same target shooting, the ray of the photocentre of each video camera and its corresponding corresponding image points composition should all pass through the same space thing
Point, i.e., each ray should intersect in object point.Crossing location is carried out to dimensional target point using this principle can, i.e. triangle vision is surveyed
The general principle of amount.
Therefore, can based on single camera vision system according to above-mentioned perspective imaging model and triangle vision measurement principle
The geometric parameter measurement of planar target is realized, the several of space three-dimensional target can be realized based on binocular or multi-vision visual system
What parameter measurement.But no matter monocular or multi-vision visual system, current existing optical imagery projection model, be directed to sky
Between object point and digital picture picture point corresponding relation, thing-as mapping relations and geometric parameter is simply solved from three dimensions
Calculate and measure.
As the theory of vision measurement and application are fast-developing, only solves thing-as mapping relations from Spatial Dimension,
Application demand through starting that vision measurement can not be met.For example, in recent years, the application of SPEED VISION measuring system starts gradually
Increase.SPEED VISION measuring system can not only complete the measurement of the physical dimension, shape posture under objective body conventional sense, moreover it is possible to
Enough capture to obtain state change of the objective body at transition moment time by high speed camera, by human eye or other conventional sensors without
The information that method measurement obtains, is shown in the form of consecutive image.Therefore, SPEED VISION measuring system, in high-speed motion mesh
The research of mark operation posture, the measurement of high-speed motion body structure dynamic parameter, collision transient study, weak signal extraction, vibration analysis
Etc., there are important Research Prospects and value.
Based on the sequence image captured by SPEED VISION measuring system, evolution of objective variable condition can be observed.Can
Be if what is quantified solves the kinematic parameter of target, except need measurement, solution room geometric parameter, it is also necessary to solve
Or the time parameter between determination sequence image.But foregoing perspective projection imaging model, only realize three-dimensional in space
Introducing of the object point to the mapping relations, not time parameter of digital image slices point；In order to realize SPEED VISION measuring system
Movement parameter measurement is studied, it is necessary on the basis of aerial image model, introduces time parameter.
On the other hand, found in the application of vision measurement, in the case of ambient lighting luminous intensity identical, the frame frequency of camera
And the difference of exposure time can cause the differences of brightness of image and contrast, the difference of brightness of image and contrast can influence camera
The extraction positioning of demarcation target index point used, so as to influence the precision of imaging system parameters demarcation, influences final measurement
Precision.
Therefore consider, in vision measurement system, space, time parameter are not completely self-contained parameter, time parameter
The problem of being influenced each other with spatial parameter, there is certain relevance.Therefore, the present invention proposes, considers joint dimension
" space " of " time " and three dimensionality, under " Space Time " four dimension system, establish comprehensive optical imagery model；Based on this
" Space Time " four-dimensional joint imaging model, the time of imaging system and the parameter calibration method research in space can be carried out.
The content of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, there is provided it is a kind of for photographic measurement system when-
Empty four-dimensional joint imaging model and application.
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of Space Time four-dimension joint imaging model, the model are that time dimension will be added under system in three-dimensional space, are established
The dimension imaging model of Space Time four, the thing established under four-dimensional system, picture point corresponding relation, on the basis of perspective imaging model
On, space object-image relation is deployed along time shaft, is expanded into Space Time four-dimensional imaging system, establishes Space Time four-dimension joint imaging mould
Type.
Moreover, the Space Time four-dimension joint imaging model be establish the continuous motion morphology of target object in space with
Corresponding relation in sequence image between the image path of target picture point.
Moreover, the Space Time four-dimensional imaging mathematical modeling, by the internal reference matrix of imaging system, outer ginseng matrix, time parameter
Matrix, parameters of target motion matrix are formed, and by the computing of parameter between each matrix, can obtain the determination of target object point and picture point
Corresponding relation.
Moreover, in the Space Time four-dimensional imaging mathematical modeling, each parameter matrix independently proposes, and carries out mathematics respectively and build
Mould, it is existing between parameter between contact, also have mutual independence；, both can be with when carrying out the demarcation of imaging system
The integral calibrating of all parameters is carried out, qualifications can also be set as needed so as to carry out substep and separate calibration.
Moreover, in the Space Time four-dimensional imaging mathematical modeling, the material time parameter of photographic measurement system is by camera exposure
Clock cycle, exposure delay, exposure time are formed；Kinematic parameter matrix, by the parameter structure of the running status of description target object
Into, it may include movement velocity, acceleration, the parameter of direction vector.
A kind of above-mentioned Space Time four-dimensional imaging mathematical modeling is provided below to be led by space demarcation target and accurate movement in foundation
The application for the Space Time four-dimensional imaging system multi-parameter standardization experimental apparatus that rail is formed：
The Space Time four-dimensional imaging system calibrating experimental provision, target is demarcated by space to ensure the spatial accuracy of demarcation, it is real
The demarcation of existing imaging system internal reference matrix, outer ginseng matrix parameter；Ensure the kinematic accuracy of target by precision mobile guide rail, by certain
The movement of kind rule, is implemented as the demarcation of system time parameter matrix, parameters of target motion matrix parameter.
Moreover, above-mentioned Space Time four-dimensional imaging system calibrating experimental provision introduces time measurement instrument --- time instrument,
The time reference of camera, target speed, the reasonability of parameter calibration and precision etc. can be played important supervision and referred to
Lead effect.
The advantages and positive effects of the present invention are：
The present invention proposes to establish " Space Time " four-dimensional imaging model, is added on the basis of space three-dimensional imaging system models
Time parameter, kinematic parameter, form a complete, rational Space Time four-dimensional imaging system, and the system can be used as following vision
In detection technique, a basis of the videographic measurment research based on sequence image, because being based on this system, can solve to include sky
Between, the time, the demarcation of any one parameter of target operation state, measurement, precision analysis the problems such as.
Brief description of the drawings
Fig. 1 is Space Time four-dimensional imaging model schematic proposed by the present invention.
Fig. 2 is graph of a relation between photographic measurement system time parameter and objective point imaging position.
Fig. 3 is Space Time four-dimension combined calibrating experimental provision schematic diagram.
Embodiment
Below in conjunction with the accompanying drawings and the invention will be further described by specific embodiment, and following examples are descriptive
, it is not limited, it is impossible to which protection scope of the present invention is limited with this.
In machine vision applications, the basis of projection imaging model is perspective projection model, also referred to as pin-hole model.In
The reflected light or transmitting light of heart perspective projection model hypothesis body surface are all put by one " pin hole " and are projected in image plane.
The present invention is proposed, on the basis of perspective imaging model, space object-image relation is deployed along time shaft, is expanded
Into Space Time four-dimensional imaging system, Space Time four-dimension joint imaging model is established, it is shown in Figure 1.
In this model, camera coordinates system, image coordinate system are established.Camera coordinates system origin is taken as camera photocentre O, ZCAxle
Overlapped with camera optical axis, and take shooting direction as forward direction.Image coordinate system is established in positive image plane S', positive image plane S'
Positioned at camera coordinates system ZCIn=f planes, perspective projection focal length centered on f.Image physical coordinates system is established in image plane S',
Image physical coordinates system origin is camera photocentre O and image plane S' intersection point o, the x-axis of image physical coordinates system, y-axis respectively with
The X of camera coordinates systemCAxle, YCAxle is parallel.Image pixel coordinates system I-uv is established, using image upper left angle point I as origin, with picture
Element is coordinate unit, and u, v represent columns and line number of the pixel in digital picture respectively, and conventional with Pixel of Digital Image is deposited
It is consistent to store up form.
Thing in Space Time model, the corresponding relation of picture point are described by taking the plane motion of object point as an example.If target point with camera
Taken exercises in the vertical object plane S of optical axis, in t0Moment, the P that target point is on object plane St0Position；In t1Moment, target
The P that point is moved on object plane St1Position；In t2Moment, the P that target point is moved on object plane St2Position.
Time shaft is in the expansion mode of imaging space, and the description relation corresponding to above-mentioned each mathematic sign, referring to Fig. 1
It is shown.
The mathematical modeling structure of above-mentioned object-image relation is as follows：
In perspective projection imaging model, the point P (X, Y, Z) in world coordinate system space is with it in the plane of delineation
The picture point P'(u, v of imaging) relation such as formula (1) shown in.Wherein [MIt is interior] be imaging model internal reference matrix, comprising principal point, etc.
The parameters such as focal length are imitated, describe the characteristic of camera in itself；[MOutside] it is outer ginseng matrix, it is the spatial point phase in world coordinate system
For the spin matrix and translation vector of camera coordinates system, the relative position between camera coordinates system and world coordinate system is described
Put and posture relation.
Wherein,
In formula (2), (Cu,Cv) be digital picture principal point, i.e. optical axis and image planes intersection point o digital picture coordinate；(Fu,Fv)
For equivalent focal length, Fu=f/dx, Fv=f/dy, f is camera focus, dx、dyRespectively the single pixel of camera is right in x, y direction institute
The actual physical size answered.In formula (3), R is spin matrix, and it is the unit orthogonal matrix of one 3 × 3, and its 9 elements are rotations
Corner (AX,AY,AZ) trigonometric function combination, the anglec of rotation (AX,AY,AZ) be defined as transforming to world coordinate system and camera coordinates
It is that posture is consistent and the Eulerian angles that are turned over rotating around three reference axis；T=(TX,TY,TZ) it is translation vector, it is world coordinate system
Coordinate of the origin in camera coordinates system.
For the camera system of moving object measurement, the corresponding relation between thing, picture point, except the inside and outside ginseng square in formula (1)
Battle array parameter, the motion state of the time parameter, object itself also with imaging system have relation.
Therefore, in the present invention, thing of the structure as shown in formula (4) is proposed, as relationship map model, the i.e. base in formula (1)
On plinth, increase time parameter matrix, the kinematic parameter matrix of target object of camera system.One i.e. in world coordinate system space
Point P (X, Y, Z), with its picture point P'(u, v) relation be：
In formula (4), [MTime] it is time parameter matrix, by photographic measurement system, influenceing moving target in sequence image
The material time parameter of middle image space is formed, and generally comprises the ginsengs such as camera exposure clock cycle, exposure delay, exposure time
Number；[MMotion] it is kinematic parameter matrix, it is made up of the parameter of the running status of description target object, it may include movement velocity, acceleration
The parameters such as degree, direction vector.
Internal reference matrix, outer ginseng matrix, time parameter matrix are independently proposed what is be modeled with parameters of target motion matrix
Advantage is：Contact between having between parameter, also there is mutual independence；When carrying out the demarcation of imaging system, both
The integral calibrating of all parameters can be carried out, qualifications can also be set as needed so as to carry out substep and separate calibration.
Below by taking linear uniform motion target as an example, to express above-mentioned Space Time four-dimension object-image relation mapping model
It is defined in photographic measurement system, three important time parameters：Camera exposure clock cycle, exposure delay, expose
Light time is grown, and uses t respectivelyframe、te-d、te-cRepresent.The influence for being specifically defined and its being imaged in the picture to object point of three parameters,
It is shown in Figure 2.
The camera real time of exposure, generally the clock pulses triggering with camera work along synchronous, but does not have certain
Time delayses, the setting depending on camera hardware.It is i.e. within each clock cycle of camera work, moving target is really " aobvious
The period on the digital image is presented in shadow ", is from working pulse delay te-dMoment, lasting integration exposure te-cDuration
Period.Shooting measurement for low-speed motion target, in te-d、te-cWhen sufficiently small, the two can be ignored；But for height
For the measurement application of fast target, it is determined that the value of the two is extremely important, and if te-cValue it is larger, and the movement velocity of target
It is too fast, in exposure time te-cIf the move distance of interior target has exceeded pixel unit, the smear of image can be caused.
If camera is taken pictures with certain frame frequency N exposures, here N=1/tframe.In t0It is F that moment, which claps the digital picture taken,0,
In t1Moment (t1=t0+ 1/N) to clap the digital picture that takes be F1, in t2Moment (t2=t1+ 1/N=t0+ 2/N) clap the digitized map taken
As being F2.In t0Moment, the P that target point is on object plane St0Position；In t1Moment, target point are moved on object plane S
Pt1Position；In t2Moment, the P that target point is moved on object plane St2Position.Each mathematic sign proposes Space Time four in the present invention
The location expression in imaging system is tieed up, it is shown in Figure 1.
In the present invention, thing, picture point mapping relations in Space Time four-dimension joint imaging model are carried out by taking linear uniform motion as an example
Foundation.Details are as follows.
Do not consider time, movement relation, under perspective imaging model, for independent thing, picture point pair, meet formula
(5), the coordinate calculated relationship shown in formula (6).
In formula (5), formula (6), (XC-pt0,YC-pt0,ZC-pt0) it is object point Pt0In camera coordinates system O-XCYCZCMiddle coordinate,
(upt0,vpt0) it is Pt0Corresponding picture point p't0The coordinate in image physical coordinates system o-xy, (Xpt0,Ypt0,Zpt0) for its in object point
Pt0The coordinate in world coordinate system W-XYZ.
After considering time, movement relation, if P0Point is the location of camera exposure initial time object point, in camera coordinates
Under system, if its coordinate is (XC-p0,YC-p0,ZC-p0)；In serial number n exposure cycle (i.e. the n-th width image of sequence image),
Object point present position is Ptn, coordinate is (X under its camera coordinates systemC-ptn,YC-ptn,ZC-ptn).Moved along a straight line in computing under model,
PtnWith initial point P0There is following coordinate relation：
Time parameter in formula (7) is come out with motion state parameterses independent draws, is write as the form of matrix multiple：
In formula (8), by tframe、te-d、te-cThe matrix formed is time parameter matrix, reflects the several heavy of high speed camera
Want time parameter；By Vxc、Vyc、VzcThe matrix formed is motion state matrix, reflects the motion state and initial shape of object
State；Parameter n matrix is included, then is mainly used to determine position of the analyzed image in sequence image, and current target point
Residing time point.
Formula (8) is substituted into formula (5), the image in sequence image in serial number n exposure cycle corresponding to target point is sat
Mark is set to：
Conversion idea between coordinate system shown in recycling formula (6), carry out between camera coordinates system and world coordinate system
Conversion：
Wherein, VX、VY、VZFor velocity component of the target motion vectors under any world coordinate system W-XYZ；(Xp0,Yp0,
Zp0) it is position of the target initial point under world coordinate system；By rx、ry、rzThe matrix R' of composition is spin matrix, its 3 members
Element represent respectively by the principal axis transformation of X, Y, Z tri- of world coordinate system to it is consistent with camera coordinates system posture and be respectively necessary for change rotation
Steering volume, T=(TX,TY,TZ) it is translation vector, it is coordinate of the world coordinate system origin in camera coordinates system.
Simultaneous equations (9) and formula (10), can be written as form：
Thus, just establish under any world coordinate system, corresponding when empty between moving target and sequence image
As mapping relations.Internal reference matrix, outer ginseng matrix, time parameter matrix, motion state matrix are included in mapping model.
It should be noted that the present invention by taking linear uniform motion as an example, is illustrated in the four-dimensional joint of Space Time proposed by the present invention
How thing, the correspondence mappings relation of picture point are established under imaging model；But the motion state of objective body has diversified forms, different motion
Under form, kinematic parameter matrix is different, and the last mapping model of thing, picture point also can be different.But regardless of the motion mould of form
Type, it is all by the inside and outside parameter of camera system, time parameter, the parameters of target motion, be configured to thing of the moving target in Space Time,
As mapping relations, belong within protection scope of the present invention.
It is set forth below when foundation is made up of space demarcation target and precision mobile guide rail, the present invention is in calibration experiment
The application of device, its demarcate the step of be：
(1) perspective projection model and lens imaging model are based on, establishes thing, the picture point corresponding relation of three dimensions；
(2) propose photographic measurement system involved by time parameter and target kinematic parameter, establish each time parameter and
Influence relation of the kinematic parameter to dimensional target point image space；
(3) three dimensions imaging system is deployed along time shaft, i.e., time dimension is added under system in three-dimensional space, establish
" Space Time " four dimension imaging model, the thing established under four-dimensional system, picture point corresponding relation；
(4) according to " Space Time " four-dimensional imaging model, establish by internal reference matrix, outer ginseng matrix, time parameter matrix, motion
The thing of the multi-parameter of the compositions such as parameter matrix, the mathematical modeling as mapping relations；
(5) be used for the experimental provision design of four-dimensional imaging system multi-parameter demarcation, based on the experimental provision, can simultaneously or
Substep realizes the demarcation of the spatial parameter, time parameter of imaging system.
The major experimental means of demarcation, it is the target for using room and time known to the determination with certain precision to position
Put to be solved to the related unknown parameter of imaging system, therefore, as the application of the present invention, propose Space Time combined calibrating
The focus problem of experimental provision is：How this kind of target with certain precision and determination known to room and time positioning is designed
Mark thing and its experimental provision.Space Time combined calibrating experimental provision proposed by the present invention, it is shown in Figure 3.
In experimental provision, time instrument (Time Interval and Frequency Counter) is employed.When
Between interval instrument be also referred to as time synthesizer, be using the cycle of oscillation of high stable quartz oscillator as standard, utilize digit synthesis
Technology, produce a variety of time interval signals such as settable pulse period, time delay, pulse width.Time instrument is extensive
Apply in fields such as metering, communication, high-energy physics, standard source can be used as when examining and determine time measuring instrument.Precise time-time-interval
When instrument carries out time measurement, tested interval is divided into two parts：The part of base during more than one, using between the ordinary numbers formula time
Every the principle of measuring instrument, i.e., the number of main pulse when accumulative；The part of base during less than one, swum using analog interpolation, numeral
Mark method or analog (A/D) converter technique are carried out, and Measurement Resolution is in theory up to several ps.
In the digital display plane of time instrument, the gridiron pattern for installing the aerial image camera calibration of standard is (or other
Pattern form) target plate.The association of the two is positioned in precise guide rail, by precise guide rail target with certain speed
It is mobile.High speed camera is continuously taken pictures with certain frame frequency to motion target.Since when the camera exposure time is shorter, figure
Image brightness is very low, so needing light source to be illuminated.When carrying out demarcation research, illumination photometer can be used to illuminate current light source
Brightness case carry out quantitative mark.
The positioning precision of dimensional target point is ensured by the target plate of gridiron pattern (or other pattern forms), ensured by precise guide rail
The movement velocity precision of object.While triggering high speed camera is taken pictures, triggered time interval instrument carries out time statistics.
High speed camera with certain frequency of exposure to the gridiron pattern target moved to being taken pictures, by sequence image and foregoing
Space Time object-image relation is demarcated to the space of imaging system, time parameter；Meanwhile adopted by each image in sequence image
The time statistical value shown by time instrument digital display plane collected, can to the nominal value of camera time parameter, by model meter
The time parameter values calculated are verified.
, can be with to avoid plane object point from causing unusual, precise guide rail and the target carried to camera calibration matrix
Certain angle is rotated, i.e., high speed camera can be imaged to target object plane from different angles, so as to be demarcated
Parametric solution.
Although disclosing embodiments of the invention and accompanying drawing for the purpose of illustration, those skilled in the art can manage
Solution：Do not departing from the present invention and spirit and scope of the appended claims in, it is various replace, change and modifications all be it is possible,
Therefore, the scope of the present invention is not limited to embodiment and accompanying drawing disclosure of that.
Claims (7)
- A kind of 1. Space Time four-dimension joint imaging model, it is characterised in that：The model is will to add time dimension under system in three-dimensional space Degree, establishes the dimension imaging model of Space Time four, the thing established under four-dimensional system, picture point corresponding relation, in perspective imaging model On the basis of, space object-image relation is deployed along time shaft, is expanded into Space Time four-dimensional imaging system, establishes the four-dimensional joint of Space Time Imaging model.
- 2. Space Time four-dimension joint imaging model according to claim 1, it is characterised in that：The Space Time four-dimension is unified into As model is established in the continuous motion morphology and sequence image of target object in space between the image path of target picture point Corresponding relation.
- 3. Space Time four-dimension joint imaging model according to claim 1, it is characterised in that：The Space Time four-dimensional imaging number Model is learned, is made up of the internal reference matrix of imaging system, outer ginseng matrix, time parameter matrix, parameters of target motion matrix, by each square The computing of parameter between battle array, the corresponding relation of the determination of target object point and picture point can be obtained.
- 4. Space Time four-dimension joint imaging model according to claim 3, it is characterised in that：The Space Time four-dimensional imaging number Learn in model, each parameter matrix independently proposes, and carries out mathematical modeling respectively；When carrying out the demarcation of imaging system, may be selected Carry out the integral calibrating of all parameters or set qualifications as needed so as to carry out substep and separate calibration.
- 5. Space Time four-dimension joint imaging model according to claim 3, it is characterised in that：The Space Time four-dimensional imaging number Learn in model, the material time parameter of photographic measurement system is made up of camera exposure clock cycle, exposure delay, exposure time； Kinematic parameter matrix, it is made up of the parameter of the running status of description target object, the parameter includes movement velocity, acceleration, side To vector.
- A kind of 6. application of Space Time four-dimension joint imaging model as claimed in claim 1, it is characterised in that：The Space Time four-dimension into As mathematical modeling is establishing the Space Time four-dimensional imaging system multi-parameter demarcation being made up of space demarcation target and precision mobile guide rail Experimental provision：The Space Time four-dimensional imaging system calibrating experimental provision, target is demarcated to ensure the spatial accuracy of demarcation by space, is implemented as As system internal reference matrix, the demarcation of outer ginseng matrix parameter；Ensure the kinematic accuracy of target by precision mobile guide rail, by certain rule Movement then, it is implemented as the demarcation of system time parameter matrix, parameters of target motion matrix parameter.
- 7. the application of Space Time four-dimension joint imaging model according to claim 6, it is characterised in that：The Space Time is four-dimensional Imaging system standardization experimental apparatus introduces time measurement instrument --- time instrument, time reference, target motion to camera Speed, the reasonability of parameter calibration and precision are supervised.
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| CN110428457A (en) * | 2019-08-08 | 2019-11-08 | 苏州中科全象智能科技有限公司 | A kind of point set affine transform algorithm in vision positioning |
| CN114565665A (en) * | 2022-02-28 | 2022-05-31 | 华中科技大学 | Space-time calibration method of selective auxiliary processing visual system |
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